GB2556554B - Interfacing a surgical robotic arm and instrument - Google Patents

Interfacing a surgical robotic arm and instrument Download PDF

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Publication number
GB2556554B
GB2556554B GB1801210.4A GB201801210A GB2556554B GB 2556554 B GB2556554 B GB 2556554B GB 201801210 A GB201801210 A GB 201801210A GB 2556554 B GB2556554 B GB 2556554B
Authority
GB
United Kingdom
Prior art keywords
interfacing
instrument
robotic arm
surgical robotic
surgical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
GB1801210.4A
Other versions
GB2556554B8 (en
GB2556554A (en
GB2556554A8 (en
GB201801210D0 (en
Inventor
Marshall Keith
Priyam Su-Ling Phoolchund Nikki
Bates Jackson Thomas
Mcbrien Martin
Peter Whittle Jonathan
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CMR Surgical Ltd
Original Assignee
CMR Surgical Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CMR Surgical Ltd filed Critical CMR Surgical Ltd
Priority to GB2202571.2A priority Critical patent/GB2601269B/en
Publication of GB201801210D0 publication Critical patent/GB201801210D0/en
Publication of GB2556554A publication Critical patent/GB2556554A/en
Application granted granted Critical
Publication of GB2556554B publication Critical patent/GB2556554B/en
Publication of GB2556554B8 publication Critical patent/GB2556554B8/en
Publication of GB2556554A8 publication Critical patent/GB2556554A8/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00389—Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector
    • A61B2017/00393—Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector with means for switching between functions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A61B2017/2923—Toothed members, e.g. rack and pinion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
GB1801210.4A 2016-09-14 2017-06-06 Interfacing a surgical robotic arm and instrument Active GB2556554B8 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB2202571.2A GB2601269B (en) 2016-09-14 2017-06-06 Interfacing a surgical robotic arm and instrument

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB1615616.8A GB201615616D0 (en) 2016-09-14 2016-09-14 Interfacing a surgical robotic arm and instrument
GB1709016.8A GB2553879B (en) 2016-09-14 2017-06-06 Interfacing a surgical robotic arm and instrument

Publications (5)

Publication Number Publication Date
GB201801210D0 GB201801210D0 (en) 2018-03-14
GB2556554A GB2556554A (en) 2018-05-30
GB2556554B true GB2556554B (en) 2022-04-06
GB2556554B8 GB2556554B8 (en) 2023-11-29
GB2556554A8 GB2556554A8 (en) 2023-11-29

Family

ID=57234443

Family Applications (4)

Application Number Title Priority Date Filing Date
GBGB1615616.8A Ceased GB201615616D0 (en) 2016-07-29 2016-09-14 Interfacing a surgical robotic arm and instrument
GB2202571.2A Expired - Fee Related GB2601269B (en) 2016-09-14 2017-06-06 Interfacing a surgical robotic arm and instrument
GB1709016.8A Active GB2553879B (en) 2016-09-14 2017-06-06 Interfacing a surgical robotic arm and instrument
GB1801210.4A Active GB2556554B8 (en) 2016-09-14 2017-06-06 Interfacing a surgical robotic arm and instrument

Family Applications Before (3)

Application Number Title Priority Date Filing Date
GBGB1615616.8A Ceased GB201615616D0 (en) 2016-07-29 2016-09-14 Interfacing a surgical robotic arm and instrument
GB2202571.2A Expired - Fee Related GB2601269B (en) 2016-09-14 2017-06-06 Interfacing a surgical robotic arm and instrument
GB1709016.8A Active GB2553879B (en) 2016-09-14 2017-06-06 Interfacing a surgical robotic arm and instrument

Country Status (6)

Country Link
US (3) US11547501B2 (en)
EP (1) EP3512454A1 (en)
JP (2) JP7164848B2 (en)
CN (3) CN109688962B (en)
GB (4) GB201615616D0 (en)
WO (1) WO2018051093A1 (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2570520B8 (en) * 2018-01-30 2023-05-24 Cmr Surgical Ltd Interfacing a surgical robotic arm and instrument
GB2570518B8 (en) * 2018-01-30 2023-05-24 Cmr Surgical Ltd Interfacing a surgical robotic arm and instrument
GB2585727B8 (en) * 2018-01-30 2023-05-24 Cmr Surgical Ltd Interfacing a surgical robotic arm and instrument
EP3773312A4 (en) * 2018-04-06 2022-04-13 Project Moray, Inc. Improved fluidic drivers, devices, methods, and systems for catheters and other uses
USD910186S1 (en) 2019-02-28 2021-02-09 Cmr Surgical Limited Structure for interfacing a surgical robotic arm and instrument
KR102269772B1 (en) * 2019-03-13 2021-06-28 큐렉소 주식회사 End effector for surgical robot
US11523822B2 (en) * 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
JP6762592B1 (en) * 2019-12-20 2020-09-30 リバーフィールド株式会社 Medical robots and mounting parts for medical robots
US20210361370A1 (en) * 2019-12-20 2021-11-25 Riverfield Inc. Medical robot, surgical tool and attachment portion
CN115087410B (en) * 2020-04-02 2023-05-16 瑞德医疗机器股份有限公司 Bearing structure and coating unit provided with bearing structure

Citations (8)

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Publication number Priority date Publication date Assignee Title
US5807378A (en) * 1995-06-07 1998-09-15 Sri International Surgical manipulator for a telerobotic system
US20020087049A1 (en) * 1998-02-24 2002-07-04 Brock David L. Flexible instrument
US20060161136A1 (en) * 1997-11-21 2006-07-20 Intuitive Surgical Inc. Surgical accessory clamp and system method
US20120259325A1 (en) * 2009-10-09 2012-10-11 Houser Kevin L Laparoscopic Instrument with Attachable Energy End Effector
WO2013063522A2 (en) * 2011-10-26 2013-05-02 Reid Robert Cyrus Surgical instrument motor pack latch
US20130317519A1 (en) * 2012-05-25 2013-11-28 Hansen Medical, Inc. Low friction instrument driver interface for robotic systems
US20160151115A1 (en) * 2014-11-27 2016-06-02 avateramedical GmBH Device for robot-assisted surgery
EP3673856A1 (en) * 2015-03-10 2020-07-01 Covidien LP Robotic surgical systems, instrument drive units, and drive assemblies

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US7666191B2 (en) 1996-12-12 2010-02-23 Intuitive Surgical, Inc. Robotic surgical system with sterile surgical adaptor
US8206406B2 (en) 1996-12-12 2012-06-26 Intuitive Surgical Operations, Inc. Disposable sterile surgical adaptor
US7331967B2 (en) 2002-09-09 2008-02-19 Hansen Medical, Inc. Surgical instrument coupling mechanism
US7690160B2 (en) * 2004-07-23 2010-04-06 Moller Jr Jorgen J Modular floor tile system with transition edge
EP1815949A1 (en) 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Medical robotic system with manipulator arm of the cylindrical coordinate type
US9211160B2 (en) * 2008-01-16 2015-12-15 Luiz Geraldo Pivotto Remotely controlled catheter insertion system with automatic control system
US8720448B2 (en) * 2008-11-07 2014-05-13 Hansen Medical, Inc. Sterile interface apparatus
US8747309B2 (en) 2010-11-09 2014-06-10 Covidien Lp Suspension system for minimally invasive surgery
CN102018573B (en) 2010-11-04 2013-08-21 燕山大学 Catheter push-pull device of minimally vascular interventional surgery robot
ITFI20110114A1 (en) 2011-05-31 2012-12-01 Scuola Superiore Di Studi Universit Arie Di Perfe ROBOTIC PLATFORM FOR MINING-INVASIVE SURGERY
US9839481B2 (en) * 2013-03-07 2017-12-12 Intuitive Surgical Operations, Inc. Hybrid manual and robotic interventional instruments and methods of use
US9888919B2 (en) * 2013-03-14 2018-02-13 Ethicon Llc Method and system for operating a surgical instrument
US9498291B2 (en) * 2013-03-15 2016-11-22 Hansen Medical, Inc. Touch-free catheter user interface controller
ITMI20130516A1 (en) * 2013-04-05 2014-10-06 Sofar Spa SURGICAL SYSTEM WITH STERILE TOWELS
WO2015010189A1 (en) * 2013-07-24 2015-01-29 Centre For Surgical Invention & Innovation Multi-function mounting interface for an image-guided robotic system and quick release interventional toolset
US9724493B2 (en) * 2013-08-27 2017-08-08 Catheter Precision, Inc. Components and methods for balancing a catheter controller system with a counterweight
US10213268B2 (en) * 2014-03-17 2019-02-26 Intuitive Surgical Operations, Inc. Latch release for surgical instrument
EP3206842B1 (en) * 2014-12-11 2019-05-29 Titan Medical Inc. Actuator for manipulating a tool
EP3305235A4 (en) * 2015-06-01 2019-01-23 Olympus Corporation Medical manipulator
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Publication number Priority date Publication date Assignee Title
US5807378A (en) * 1995-06-07 1998-09-15 Sri International Surgical manipulator for a telerobotic system
US20060161136A1 (en) * 1997-11-21 2006-07-20 Intuitive Surgical Inc. Surgical accessory clamp and system method
US20020087049A1 (en) * 1998-02-24 2002-07-04 Brock David L. Flexible instrument
US20120259325A1 (en) * 2009-10-09 2012-10-11 Houser Kevin L Laparoscopic Instrument with Attachable Energy End Effector
WO2013063522A2 (en) * 2011-10-26 2013-05-02 Reid Robert Cyrus Surgical instrument motor pack latch
US20130317519A1 (en) * 2012-05-25 2013-11-28 Hansen Medical, Inc. Low friction instrument driver interface for robotic systems
US20160151115A1 (en) * 2014-11-27 2016-06-02 avateramedical GmBH Device for robot-assisted surgery
EP3673856A1 (en) * 2015-03-10 2020-07-01 Covidien LP Robotic surgical systems, instrument drive units, and drive assemblies

Also Published As

Publication number Publication date
GB2556554B8 (en) 2023-11-29
GB2553879A (en) 2018-03-21
US20190269471A1 (en) 2019-09-05
US20230074346A1 (en) 2023-03-09
GB2601269A (en) 2022-05-25
GB201615616D0 (en) 2016-10-26
GB2553879B (en) 2022-08-10
CN115137488A (en) 2022-10-04
JP2019529020A (en) 2019-10-17
GB2601269B (en) 2022-10-12
WO2018051093A1 (en) 2018-03-22
GB2556554A (en) 2018-05-30
CN109688962B (en) 2022-08-05
US20230072227A1 (en) 2023-03-09
GB2556554A8 (en) 2023-11-29
GB201801210D0 (en) 2018-03-14
GB201709016D0 (en) 2017-07-19
EP3512454A1 (en) 2019-07-24
JP2022121642A (en) 2022-08-19
US11547501B2 (en) 2023-01-10
GB202202571D0 (en) 2022-04-13
CN109688962A (en) 2019-04-26
JP7164848B2 (en) 2022-11-02
CN115105214A (en) 2022-09-27

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Legal Events

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S117 Correction of errors in patents and applications (sect. 117/patents act 1977)

Free format text: REQUEST FILED; REQUEST FOR CORRECTION UNDER SECTION 117 FILED ON 30 AUGUST 2023

S117 Correction of errors in patents and applications (sect. 117/patents act 1977)

Free format text: CORRECTIONS ALLOWED; REQUEST FOR CORRECTION UNDER SECTION 117 FILED ON 30 AUGUST 2023 WAS ALLOWED ON 21 NOVEMBER 2023